Programación 11 V2 ABB.

Aprender Linguaxe RAPID, poderemos programar desde RobotStudio, ou desde a FlexPendant.

  1. Exemplo usando estas instrucións  MoveL Offs, WaitTime & FOR; Se quere realizar o exemplo pode tomar como base a estación Estación PROG_11 V2 Vacía:
    MODULE Module1
    	CONST robtarget Primera_Pos:=[[-0.222935967,0.000098037,49.999436079],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
        VAR num NSec := 0;
        CONST jointtarget Home_Abs:=[[0,0,0,0,30,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
        
        VAR num X;
        VAR num Y;
        VAR num Z;
        
    	PROC main()
            
            X := 0;
            Y := 0;
            
            MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
            FOR NSec FROM 0 to 2 DO
                
                Soldar;
                
                MoveL Offs(Primera_Pos,X,0,0),v200,fine,MyTool\WObj:=W_Soldar;
                X := X + 100;
                
            ENDFOR
            
            FOR NSec FROM 0 to 2 DO
                
                Soldar;
                
                MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
                Y := Y + 100;
                
            ENDFOR
            
            FOR NSec FROM 0 to 2 DO
                
                Soldar;
                
                X := X - 100;
                MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
                
                
            ENDFOR
            
    	    Soldar;
            
            MoveAbsJ Home_Abs,v1000,fine,MyTool\WObj:=W_Soldar;
            
    	ENDPROC
        
        PROC Soldar()
        
            MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
            MoveL Offs(Primera_Pos,X,Y,-50),v200,fine,MyTool\WObj:=W_Soldar;
            SetDo Q1,1;
            WaitTime 2;
            SetDo Q1,0;
            MoveL Offs(Primera_Pos,X,Y,0),v200,fine,MyTool\WObj:=W_Soldar;
            
        ENDPROC
    ENDMODULE

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    Data Publicación: 03/03/2021